JP6393879B2 - Mobility aid - Google Patents

Description

  The present invention relates to a technical field of a movement assist device that enables movement in an upright posture.

  When using conventional mobility aids such as crutches or walker, patients must support weight alternately (or while being distributed) with their legs, arms and shoulders. Because the load is placed on the patient's ankles, knees, hips, hips, elbows and shoulder joints, using these conventional aids can cause significant discomfort and pain and limit patient activity. . Furthermore, when moving using conventional mobility aids, both arms of the patient are blocked and cannot be used, so even if the patient wishes to stand or move around in an upright position, the wheelchair will eventually be used. In most cases, it must be used.

  US Pat. No. 7,828,311 discloses a wheelchair frame, a pair of rear wheels and a pair of front wheels attached to the wheelchair frame, a drive motor connected to at least one pair of rear wheels or a pair of front wheels, and a wheelchair frame. A wheelchair is disclosed that includes wheel rails that are separably stacked and a movement support mechanism that is incorporated into the wheelchair frame.

U.S. Pat. No. 7,828,311

Sitting for extended periods of time adversely affects basic physical functions, including the digestive, cardiovascular, and respiratory systems, and is detrimental to patient health. Allowing the patient to stand up, especially in support of the patient's ability to walk, can help improve the patient's physical function and avoid health deterioration.
Many patients rely on wheelchairs rather than moving upright because they have no other practical option. If there are problems with the feet, joints, or balance, walking is restricted or the patient is unable to walk, making the patient increasingly at risk for health.

  The artificial leg can be regarded as a movement assisting tool complementary to the present invention. In fact, the present invention also supports prosthetic leg users over many years, and can also assist the prosthetic leg users to walk. People using prosthetic limbs have great difficulty standing and walking for a long time, and they are deeply worried about the stress on the foot caused by the contact surface between the foot and the prosthesis.

  Excessive reliance on traditional wheelchairs can exacerbate disabilities such as legs, joints, and sense of balance, leading to patients increasingly reducing their time to stay upright and restricting walking It could stop, and as a result, it could quickly hurt health.

  As one embodiment, a movement assist device of the present invention includes a first frame and a second frame located on both sides of a user, a hinged arm mechanism that connects the first frame and the second frame, a user's A harness for moving at least a part of the body weight from the foot to the first frame and the second frame via the waist and pelvis without the user grasping the first frame and the second frame with an arm, It makes it possible to stand up or walk for a long time.

  According to another embodiment, the movement assist device of the present invention includes a first frame and a second frame located on both sides of a user, a hinged arm mechanism that connects the first frame and the second frame, and standing up Or a means for moving at least part of the body weight from the user's foot to the first frame and the second frame via the waist and pelvis without using the user's arm during walking. is there.

  A walking assistance device according to another embodiment of the present invention includes a first frame and a second frame located on both sides of a user, a hinged arm mechanism connecting the first frame and the second frame, and a hinge. A walking seat that is positioned on the arm and supports the user at a predetermined position; and a belt that fixes the user to the walking seat, the walking seat and the belt without using the arm of the user Weight is removed from a user's foot, and the walking seat has a predetermined shape in which a space for standing up, bending over and walking without a wheelchair is secured. It is.

  In yet another embodiment, the apparatus and method of the present invention includes first and second frames located on either side of a user, hinged arm mechanisms incorporated into the first and second frames, and in place. A walking seat disposed on the hinged arm mechanism that supports the user, and a belt that fixes the user to the walking seat, and the walking seat and the belt can be used by the user without using a user's hand. The weight of the walking seat is removed, and the shape of the walking seat is determined from the user's foot when the user is standing, semi-standing or walking for a long time without using a wheelchair. The shape is characterized in that the interval can be maintained.

In the above apparatus, the walking seat includes the left and right front edges and the seat plate mounted on a seat frame through a notch , and each of the front edge and the seat plate corresponds to the user's seat. There may be a structure that can be rotated independently in the vertical direction around the horizontal axis as walking. In the above apparatus, the first frame and the second frame include a height adjusting mechanism that adjusts the height to match the height of the user. The height adjusting mechanism includes a core pin that can select a height and a manual extender or electric extender including a plurality of openings. Some electric stretchers use linear actuators or pneumatic pumps. In the above apparatus, the hinged arm is foldable and includes a total of three hinge locations, one connected to the seat support and the other two to the first and second frames respectively. It is connected to the connection point. Each of the first and second frames has one or more wheels, the first wheels rotate 360 degrees about the vertical axis and the second wheels do not rotate. is there. In the above apparatus, a brake mechanism controlled by a user's operation can be connected to one or more wheels. In the above apparatus, the wheel may be electrically driven by providing a motor on the hub. A processor can be provided to control the driving of the electric wheels. An operation lever that enables instruction input and a display device that enables viewing are provided, and a processor is connected to the operation lever and the display device to guide the user. In the above apparatus, an obstacle warning system may be provided. It is also possible to provide buttons for selecting forward, backward, right turn, left turn and stop. The footrest can be installed in the lower part of the front surface of the first or second frame. Other safety systems include harnesses, belts, suspension seats and latch straps. The frame members have the same design and are interchangeable. The frame and hinged arm mechanism are foldable. The seat height adjustment mechanism may include a pneumatic spring and is used for seat height adjustment. A shock absorber is used to reduce shaking and impact.

  As another application example, the walking assist device includes a first frame and a second frame located on both sides of the user, and each frame includes one or more electric wheels. A hinged arm mechanism connecting the first frame and the second frame is provided with a seat support portion, and a walking seat is provided on the seat support portion to fix the user in a predetermined position. It has a predetermined shape in which a space for standing up for a long time, bending down and walking is ensured.

  In this application example, the wheel is provided such that the first wheel rotates 360 degrees around the vertical axis and the second wheel does not rotate. A brake mechanism is provided that is controlled by user operation and is coupled to one or more wheels. The wheel can be electrically driven with a motor in the hub. A processor can be provided to control the driving of the electric wheels. An operation lever that enables instruction input and a display device that enables viewing can be provided, and a processor can be connected to the operation lever and the display device to guide the user. An obstacle warning system can also be provided. Operation levers and buttons for selecting forward, backward, right turn, left turn and stop can also be provided. The walking seat includes two seat plates mounted on a seat frame, and each seat plate supports a corresponding buttock, and each seat plate is accompanied by the walking of the user. It can be rotated independently about the horizontal axis. In the above apparatus, the first frame and the second frame include a height adjusting mechanism that adjusts the height to match the height of the user. The height adjusting mechanism includes a core pin that can select a height and a manual extender or electric extender including a plurality of openings. Some electric stretchers use linear actuators or pneumatic pumps. In the above apparatus, the hinged arm is foldable and includes a total of three hinge locations, one connected to the seat support and the other two to the first and second frames respectively. It is connected to the connection point. The footrest can be installed in the lower part of the front surface of the first or second frame. The apparatus can also be equipped with a harness, belt, suspension sheet, latch strap, and the like. The frame members have the same design and are interchangeable. The frame and hinged arm mechanism are foldable. The seat height adjustment mechanism may include a pneumatic spring and is used for seat height adjustment. One or more shock absorbers may be included to mitigate shaking and shock. The movement assist device of the present invention can also be equipped with a walking support mode that supports walking by electric driving of the frame.

  As an example of the walking assistance method of the present invention, the first frame and the second frame connected to each other by a hinged arm mechanism are positioned on both sides of the user and used by the seat support portion provided in the hinged arm mechanism. A method of allowing a user to walk while being supported by the walking seat as a predetermined shape in which a space is secured on the walking seat so that the user can be positioned on the walking seat by using a fixed belt and the user is positioned on the walking seat. It is.

  In this walking assistance method, the movement assistance device can select an electric assist mode in which walking is electrically assisted. In this walking assist method, the wheels are electric wheels. The first wheel of the electric wheel rotates 360 degrees around the vertical axis, and the second wheel does not rotate. In this walking assist method, a motor is incorporated in the wheel, and a brake mechanism that is controlled by a user's operation is provided and connected to one or more wheels. In addition to the processor, the method of the present invention includes controlling the electric wheels with a portable personal computer, a tablet, or a smartphone. This system can give a direction indication by operation via a button or a control lever with a liquid crystal display that can be confirmed by a user. The method of the present invention includes warnings for obstacles. In the method of the present invention, commands for forward / backward movement, left / right turn and brake can be selected. The walking seat includes two seat plates provided on the seat frame, and each of the seat plates is mounted on the seat frame. The method of the present invention includes a height adjustment function for adjusting the height to match the height of the user. The hinged arm is foldable and includes a total of three hinge locations, one connected to the seat support and the other two connected to the connection points with the first and second frames, respectively. The hinged arm can be folded during transport. The frame member has the same design and can be replaced, and the frame and the hinged arm mechanism can be folded together. The seat height can be adjusted by the seat height adjusting mechanism. One or more buffering functions can also be provided to facilitate the operation of unpaved roads. The method of the present invention can improve the portability by reducing the width and depth of the entire apparatus. In the method of the present invention, a front wheel mechanism and a rear wheel mechanism that can rotate 180 degrees horizontally inward in each frame can be employed. In order to reduce the overall depth size, the wheels on both sides face each other, and in order to reduce the overall width size, the hinged arm mechanism members are folded inward so that they are parallel. The method of the present invention can also be used to treat users. The treatment is gradually continued until the posture in which the user is seated shifts to a complete or almost complete standing posture.

  In yet another aspect, the treatment using the electric wheel is performed by setting a first frame and a second frame including a walking seat disposed on a hinged arm supporting the user on both sides of the user, and using a fixing belt. The user is supported by the walking seat as a predetermined shape that secures a space in which the user's foot can be moved back and forth in the walking seat, and the user is supported by the walking seat. It is a method of shifting from a seated posture to a complete or almost complete standing posture through treatment while allowing walking.

In the method of the present invention, the treatment is started from such a height that the user's foot protrudes forward from the frame while the user is sitting, and the seat height is gradually raised. Treat using the device until a vertical standing position is reached. This treatment can be performed under the direction of a physical therapist or medical professional. If this device is used, the height of the device can be gradually increased during treatment. The user can walk without the device when the treatment is completed. The user can walk using the device and maintain a final vertical upright posture at the end of treatment. This treatment improves the user's toughness and flexibility. This treatment also strengthens the function of the heart and lungs, controls the weight of the user, and improves the ability of the user to move. The user can walk using a frame hands-free. In order to reduce stress on the ankle, knee, waist, wrist, elbow, shoulder joint, or prosthetic leg wearing surface, the method of the present invention can be used in a standing posture (a posture in which the foot is in a vertical state) or a standing posture. It includes moving around in a close posture (the foot is an intermediate posture between a sitting posture and a standing posture). Furthermore, the method of the present invention reduces or eliminates reliance on wheelchairs. With the method of the present invention, even a wheelchair patient can walk for a long time. The treatment of the present invention can firmly support the user even when passing through various terrain such as sidewalks, slopes, paths, rooms, indoor facilities, outdoor facilities through which wheelchairs can pass. The frame and hinged arm can be folded compactly during transportation. The treatment of the present invention includes walking on a conveyor treadmill using a frame. The patient can walk without the movement assist device when the treatment is completed. Further, even when a permanent walking obstacle remains, the user can walk by using the movement assist device. The walking seat allows for the back and forth movement of the foot. It has an appearance that supports the sciatic tuberosity (sciatic bone), and allows the weight of a person to move to the walking seat. As an aid, the walking seat has an attached belt.

  In still another aspect, the movement assisting device of the present invention is combined with a conveyor treadmill, each component is arranged on the conveyor treadmill, and first and second frames located on both sides of the user, and a seat support A hinged arm incorporated into the first and second frames via the part, a walking seat installed on a seat support that supports the user at a predetermined position, a belt for fixing the user to the walking seat, Enables fore-and-aft movement of the foot.

As a device for realizing the method of the present invention, a walking seat including two seat plates mounted on a seat frame may be included. Each sheet plate of the walking seat supports the corresponding collar part and can be rotated independently about the horizontal axis as the user walks. Each frame may include a height adjustment mechanism that adjusts the height of the frame in accordance with the user. The height adjustment mechanism may include a manual expander or an electric expander including a core pin and a plurality of openings. The electric extender includes a linear actuator or a pneumatic pump. The hinged arm is foldable and includes a total of three hinge points, one connected to the seat support and the other two connected to the connection points with the first frame and the second frame, respectively. Has been. One or more wheels are attached to each frame. The first wheel can rotate 360 degrees around the vertical axis, and the second wheel does not rotate. The brake mechanism can be used to brake the wheels. The mobility aid has a harness, belt, suspension seat and latch strap. The room walker or the conveyor type treadmill can be used for walking practice if the walking assist device of the present invention is mounted on the upper side. This walking practice includes predetermined first and second frames located on both sides of the user, hinged arm mechanisms coupled to the first and second frames together with the seat support, and a shape that facilitates the forward and backward movement of the foot. This is done by walking on a conveyor type treadmill using a walking seat positioned on a seat supporting part that supports the user at the position and a device provided with a belt for fixing the user. It is also possible to perform treatment. Through treatment, the user can be gradually transitioned from a posture such as a sitting posture to a fully or nearly complete standing posture. The appearance is to move the weight of the user to the walking seat to support the sciatic nodule (sciatic bone). The treatment preferably includes a belt that secures the person to the walking seat and firmly supports the user. The gait sheet has a flat portion and an angled edge, allowing the patient to position the sciatic bone vertically.

  There are “heavy type” and “lightweight type” variations as electric options for the equipment. The weight type device utilizes the technology of the electric wheelchair. The lightweight device replaces the rear wheel mechanism (not caster type) with an independent motor driven hub wheel. The user places both feet on the footrest, not on the ground. In the case of the electric version, the user operates it through the control lever and the controller unit. These electric versions can include either an electric height adjustment function, a collision prevention sensor and a liquid crystal display device or a user smartphone interface.

  In the lightweight electric version, the “walking assist mode” can be used. In the auxiliary walking mode, the user walks while moving a device operated by a hub wheel (the footrest is not in a predetermined position) with his / her foot. As a drive mechanism having a similar mechanism, there is a drive mechanism of a self-propelled lawn mower. Walking assist is a rehabilitation of the damaged person's foot that is strengthened and strengthened, improves their ability, or walks when they do not receive walking assistance (for example, using an inclined sidewalk) This is a particularly useful function for patients because they feel that it is difficult to cross).

As another example of use, the device can also be used in rehabilitation therapy. The user can move from a sitting position to a complete or almost complete upright position throughout the entire rehabilitation treatment.
As the treatment progresses, the user gets used to it, so the height of the device gradually increases. This process continues until the instructing health care professional determines that the patient is upright. If the user completes the treatment (eg, the knee has recovered surgically) and no longer needs the device, the user can walk without the device. If the user needs the walking device all the time (for example, if the foot injury is permanent), the device will continue to be used thereafter.

  This embodiment provides alternative means for distributing weight from the foot (harness to the walking seat and belt), various alternative frame designs, various alternative walking seat designs, and size adjustments appropriate to body size and weight (e.g., There are variations such as for children), electric drive, optional settings (boost walker mode, wheelchair), various functions and accessories (wheel size, wheel type, carrying basket, shock absorber, other settings).

  The advantages of the mobility assistance device or system described herein include the following. Portable mobility aids support the patient in an upright or near-upright position, greatly reducing the burden and discomfort on the patient's ankle, knee, hip, hip, elbow and shoulder joints or on the prosthetic leg mounting surface This allows the patient to move around. This device reduces or eliminates reliance on wheelchairs. This device employs a walking seat and a belt or harness in order to remove as much as possible the weight of a user who can walk. Since the device is tightly coupled, it is very stable even when people who are difficult to balance are walking. The device removes weight from the foot and is stable on a flat place or on a slope that can be accessed by a wheelchair, so the user can walk. Even if the user is unable to walk or can only walk when using the motorized version or the motorized assist with walking assist mode, the device will remain in an upright position or Since it is possible to be in a posture close to an upright posture, a health effect can be brought about. Avoid expensive repairs that wheelchair users would have to do in their homes and offices due to the compact size, maneuverability, and the ability of users to be upright or close to upright. Can do. The patient can use both arms even while using the device. With this embodiment, you get stable support when crossing various terrains (properly paved), sidewalks, ramps, walkways, indoors and other indoor and outdoor facilities where wheelchairs can walk. Can do. In addition, the apparatus can be folded into a compact shape suitable for transportation such as a car trunk or an airplane checked baggage. This system supports disabled and elderly people while walking, so walking and training are possible while minimizing the risk of falling or injury. This apparatus can reduce a user's dependence on a wheelchair. By encouraging users to practice walking while receiving support from this system, skin diseases can be reduced. The device recommends active walking to increase blood flow. Since pressure on the buttocks is reduced and blood circulation is improved, compression or skin diseases can be alleviated. This device eliminates long-term pressure and skin moisturization, thus reducing skin diseases.

  Other advantages of the mobility assistance device include: First, the apparatus can be folded. When used in the open state, there is comfort and convenience to support disabled and elderly people, but the folded state is compact and substantially depends on the height of the armrest and the floor size. Occupies the range defined in. In combination with the state-of-the-art technology for reducing the device width, the installation area can be reduced in this way, and a new type of portable mobility aid that can be accommodated in a smaller space is provided. Can do. The foldable device can be reduced in cost by reducing the installation area, and the strength and durability of the side frame assembly unit can be maximized. By shifting the axle so that the axle of the drive wheel can be controlled and automatically shifted, the device can fold the side frame from the normal state and reduce the side space. . The operation of unfolding the device from the folded state is controllable and automatically unfolded into a normal device configuration in which the balance and stability of the frame and wheels are ensured.

  In addition to being easy to use and store, this system maximizes the benefits of standing and walking, and reduces the negative effects of taking a long sitting posture. Long-term sitting or bed-ridden posture is detrimental to the patient's health and adversely affects many basic physical functions, including the heart, blood vessels, respiratory and digestive organs. If the patient can change his / her posture to a standing posture even if it is standing upright or incomplete, especially if the patient can walk around, physical functions can be improved and health deterioration can be avoided.

  The device is multifunctional and also functions as a conventional walker when used without a belt and walking seat. The patient can also stand behind the device by grasping the handle, similar to a conventional device. The user can use the device with the handle in the same direction, or can use the device with the direction of the handle reversed. If the user wants to move like a conventional wheelchair, the device can be easily converted into a wheelchair. The apparatus can be used as a wheelchair for movement by providing an optional footrest and suspension seat and by reversing the handle.

  Although this embodiment is particularly useful for patients using a prosthetic leg, it can be used as a rehabilitation tool after ligament, tendon, bone or tissue joint replacement or foot or joint surgery, as well as cerebral infarction or brain As a rehabilitation tool after injury, etc., patients who are difficult to maintain balance, elderly people, people who have strong joint pain or discomfort when standing or walking, and patients who have amputated legs suffering from joint diseases It is thought that demand can be found in a large and wide market (with or without use of prosthetic legs).

1 is a perspective view of a movement assist device 10. FIG. 2 is a front view of a user and the device 10. FIG. It is the side view which showed the person of the attitude | position with a low waist | separation near a seating attitude | position. It is the side view which showed the person of the posture with a low waist in a semi-standing posture. It is the side view which showed the person of the posture with a high waist in a semi-standing posture. It is the side view which showed the person of a perfect standing posture. 2 is a side view of the device 10. FIG. 2 is a top view of the device 10. FIG. 1 is a perspective view of the device 10 in a fully opened state. It is a perspective view of the apparatus 10 in the folded state. It is a front view of the apparatus 10 of the state fully opened. It is a front view of the apparatus 10 of the state opened halfway. It is a front view of the apparatus 10 of the state folded completely. 1 is a side view of the device 10 in a fully folded state. FIG. FIG. 2 is a top view of the device 10 in a fully folded state. 2 is an exploded view of the device 10. FIG. 2 is a detailed rear view of the device 10. FIG. It is a side view of a side frame. It is a rear view of a hinge support | pillar. It is a detailed view of the handle height adjustment function and the lock function. It is the side view and top view of a cam lever. It is a rear view of a hinged arm mechanism. It is a rear view of a hinged arm mechanism in a state where the left and right arms are separated. It is detail drawing of the locking function of a hinged arm mechanism. It is an illustration of the hinged arm mechanism which locks a cam lever. It is a side view of a caster wheel mechanism. It is a side view of a rear-wheel mechanism including a brake function. It is detail drawing of the height adjustment function of a wheel mechanism. It is a front view of a belt. It is a front view of the belt of the state where the latch fitting is removed. It is a perspective view of a walking seat. It is a side view of a handle and a brake lever. It is a front perspective view of device 10 with a tension sheet attached. It is a front perspective view of apparatus 10 of other embodiments. It is the front perspective view of the apparatus 10 which showed the shape in the case of using it as a wheelchair. It is a front perspective view of the apparatus 10M of a lightweight type electric structure. It is a top view of a suspension sheet. It is a perspective view of a footrest. It is a perspective view of a control lever and a liquid crystal display device. It is a perspective view of the motor for height adjustment. It is a side view of the caster type wheel mechanism for electric height adjustment. It is a side view of a hub wheel mechanism. It is a side view of a hub wheel. It is a side view of the hub wheel which exposed the internal motor function. 2 is a front view of a user and the device 20. FIG. 2 is a perspective view of the device 20. FIG. 3 is a front view of the device 20. FIG. FIG. 4 is a detailed front view of a harness attached to the device 20. It is a front view of a harness. The details of the harness mounting function are shown. It is a perspective view of the apparatus 20 in the state where the harness is not attached. It is a front view of the apparatus 20 in the state where the harness is not attached. It is a perspective view of a different version of the device 20A. It is the side view, front view, and top view of the apparatus 20 which excluded the handle | steering-wheel and the wheel. It is a fracture detail drawing of the hinge function for apparatus 20A. 3 is a perspective view of the device 30. FIG. 2 is a front view of a user and the device 30. FIG. 2 is a side view of a user and the device 30. FIG. 3 is a side view of the device 30. FIG. 3 is a front view of the device 30. FIG. 3 is a top view of the device 30. FIG. It is a perspective view of the walking seat for apparatus 30, and the arm mechanism with a hinge. It is a disassembled perspective view of the walking mechanism for apparatus 30, and the arm mechanism with a hinge. 4 is a perspective view of the device 40. FIG. 3 is a perspective view of the device 50. FIG. It is the perspective view of the apparatus 50 which excluded the harness and showed the brake function. 4 is a side view of a handle of the device 50. FIG. It is a front view of the state which opened the travel case. It is a side view of the state which closed the travel case. It is the front view, top view, and side view of the wheel storage case for travel cases. It is a front view of the state which opened the apparatus and the travel case. It is a side cutaway view of an apparatus and a travel case. It is the side view at the time of the state which closed the apparatus and the travel case, and removed the wheel storage case. It is a side view at the time of attaching the wheel storage case with the state which closed the apparatus and the travel case. FIG. 3 is a perspective view of a weight type electric device 60. It is a perspective view of the weight type electric device. It is a perspective view of an electric pedestal. It is a perspective view of a control lever and a liquid crystal display device. It is a perspective view of a base cover. It is a perspective view of the electric base with the base cover removed. It is an exploded view of the electric base with the base cover removed. The usage example of the walker with which the conveyor type treadmill for rehabilitation was mounted | worn is shown. The use method of the said apparatus is illustrated.

  In the drawings to be referred to, the movement assisting device of each embodiment is indicated by reference numeral 10. FIG. 1 shows the main components of the movement assist device 10, that is, two side frames 3, two handles 4, one hinged arm mechanism 5 and two hinge posts 6. Here, the belt 2 is firmly fixed to a handle 4, and the handle 4 is connected to a hinge post 6 and a side frame 3, and a hinged arm mechanism 5 to which a seat support is attached is provided. In this embodiment, the device 10 includes a support structure with side frames 3 arranged at parallel intervals. The front wheel member 7 is provided on the front surface of each side frame 3. In some embodiments, the wheel members 7 and 8 are attached to the corresponding side frames 3 by cam levers, respectively.

In this embodiment, the height of the side frame 3 from the ground is, as will be described in detail later, such as a spring-type buttonhole mechanism as shown in FIG. 1 or an electric height adjustment mechanism such as a linear motor. It can be controlled by various mechanisms.
In the embodiment of FIG. 1, a foldable hinged arm mechanism 5 is disposed between the side frames 3 with a space therebetween. When fully open and the lock cam 11 is operating, the hinged arm mechanism 5 firmly connects the side frames 3. The seat support portion extends from the center of the hinged arm mechanism 5.

In this embodiment, the side frame 3 and the hinged arm mechanism 5 surround the user.
Furthermore, in other embodiments, two frames are located on the front and back of the user. In this case, the user enters the side of the device.

  Referring to FIG. 1 in more detail, the movement assist device 10 includes a walking seat 1 and an adjustment belt 2 that the user matches with the position of the sciatic bone, and combines them to fix the user in a predetermined position. The walking seat 1 is a member that is essentially different from a bicycle seat that can move while supporting the weight of the user. Unlike a bicycle seat, this walking seat requires a belt or other member that secures the walking seat to a predetermined position of the user.

The walking seat differs from the bicycle seat in that it does not have protrusions that would be unbearable when walking with the device 10. In addition, since the walking seat has the position of the ischia relatively positioned near the tip of the walking seat, it does not interfere with the back and forth movement of the foot while the user is walking. In a general bicycle, the sciatica is located at the back of the seat, and walking is not easy because it is the maximum range of movement in the front-rear direction. The walking seat 1 includes a seat support portion 5c of a hinged arm mechanism 5. The walking seat can be constituted by either a single pad seat plate 1b attached to the seat frame or two seat plates attached to the seat frame. When walking sheet fitted with two sheet plates, sheets plate of each pad is intended to support the corresponding hip, while the user as shown in Figure 31 is walking, the center each horizontal axis Can rotate independently. The strap extending from the walking seat 1 can be pulled downward to facilitate folding of the walking seat 1 as a rotation pivot of the hinge of the seat plate when the movement assisting device 10 is cleared when not in use. . In some embodiments, in the movement assistance device 10, a spring is disposed between each frame support member and the wheel in order to give the user cushioning from each side frame 3. Furthermore, in another embodiment, the walking seat retains cushioning properties by applying a spring or other elastic material for absorbing shock.

  Since the user is fixed by the repulsive force of the walking seat 1 and the belt 2, the weight of the user moves from the foot to the device 10 (infinitely close to 100%). When operating the device 10, the user can walk with the minimum necessary force (or appropriate force) through one or both feet. In the embodiment, the front wheel mechanism 7 and the rear wheel mechanism 8 can make a detour and advance with the minimum required force through the user's foot, and thus use with severe obstacles. Even a person can proceed safely and conveniently.

  A pair of rear wheel mechanisms 8 (one of which is shown in FIG. 1) are attached to the rear of the side frame 3 of the movement assist device. Each rear wheel mechanism 8 typically includes a shaft attached to a wheel mounting shaft 8e. The wheel hub of the rear wheel is provided on the wheel shaft of the rear wheel. A rear wheel wheel rim to which rubber or a tire is attached is generally concentric with the rear wheel wheel hub. The rear wheel hub and the wheel rim are connected by a plurality of spokes.

  In some embodiments, each spoke has a spring with shock absorbing capability between the rear wheel rim and the rear wheel hub. In one embodiment, the drive motor is attached to the side frame 3 of the mobility aid and is assembled to drive the axle (front, back or center as shown in FIGS. 75 and 76). In one embodiment, as detailed below, the drive motor is incorporated into the wheel to form a wheel motor.

  The movement assist device 10 includes a walking seat 1 and a belt 2. The walking seat 1 is connected to the side frame 3 via a hinged arm mechanism 5. The belt 2 is connected to the side frame 3 through the handle 4 and the hinge post 6. The hinged arm mechanism 5 fixes the side frames 3 vertically at a predetermined position and supports the side frames 3 so as to be horizontal. The side frame 3 is connected to the wheel mechanisms 7 and 8, and firmly fixes the wheel mechanisms 7 and 8 vertically. In one embodiment, the features of the wheel mechanisms 7 and 8 are that the front wheel mechanism 7 rotates 360 degrees around the vertical axis while the rear wheel mechanism 8 does not rotate. The wheel mechanisms 7 and 8 have offsets (7c and 8c, respectively) from the vertical shafts (7a and 8a, respectively) connected to the side frame 3. While this offset reduces the overall size of the device 10, it can prevent tilting and greatly improves stability. As shown in FIG. 27, the wheel mechanism 8 includes brake mechanisms 12a and 12b.

  The hinged arm mechanism 5 is provided with hinges at the connection points of the side frames 3, and includes one hinge at the center 5h2 and one hinge cylinder 5h1 and 5h3. Yes. These hinges 5h1, 5h2 and 5h3 rotate smoothly as described in detail below. By the action of these hinges 5h1, 5h2 and 5h3, the device 10 can be folded small for carrying and storage. The hinged arm mechanism 5 is provided around 1/3 of 2/3 from the bottom surface of the side frame 3. The structure supplies a strong structure for supporting the column at a predetermined position of the side frame member 3 while not affecting the movement of the user. The hinges 5h1, 5h2, and 5h3 of the hinged arm mechanism 5 are firmly locked using the cam lever locking mechanism shown in FIG.

  In a certain embodiment, the adjustment function with respect to the height of an apparatus is provided in the junction part of the side frame 3 and the wheel mechanisms 7 and 8. FIG. The mechanism used for adjusting the height of the device of the side frame 3 is the same mechanism as the height adjusting function 6 b used for moving the handle 4 up and down at the interface of the hinge column 6.

  In an embodiment, the control box 17 includes a control lever or a joystick, is mounted on the frame of the movement assist device, and is connected to the drive motor for controlling the rotation direction of the drive motor. Since the control lever 17a controls the backward movement, neutral, and forward movement of the movement assist device 10, there are positioning of backward movement, neutral, and forward movement. The control box 17 is provided at a location where a user (not shown) of the movement assisting device 10M, 60 or 70 can easily operate, for example, the walking seat 1. In the electrically driven embodiment, the battery is fixed to the frame of the movement assist device and connected to the control box via the power supply line.

  Each handle 4 shown in FIG. 1 is connected via a cable line 12a to actuate a brake lever 12b mounted on a wheel mounting shaft 8e of the wheel mechanism 8 in one embodiment as shown in FIG. Thus, it is connected to a handgrip 12c for manual braking shown in FIG. By the operation of the cable line 12a, the brake lever 12b is operated, rotates at the mounting position of the wheel mounting shaft 8e, contacts the tire 8d, and gives a braking force to the wheel mechanism 8.

  As another brake system, there is a disc brake system mounted on the wheel mechanism 8 of the device 10. The disc brake system has brake pads each facing the wheel rim, and has two pivot arms. The operation of the cable 12a activates the arm, and the brake pads are pressed together against the wheel rim so that the brake pads rotate at the attachment points and apply a braking force to the wheel mechanism 8.

  As an embodiment of the movement assist device 10, as can be understood by those skilled in the art, a brake lever is connected to at least one axle of the wheel mechanisms 7 and 8 in order to assist manual braking of the wheel mechanisms 7 and 8. It is possible to configure. Furthermore, as will be described later, the brake can be used as a regenerative brake for charging a small battery having a small casing that can be more rapidly charged.

  The pocket is supplied to the bottom surface of the walking seat 1. For example, a pocket is provided in each seat panel of the walking seat 1. The cut 1c is provided at the front end of the walking seat to relieve the user's compression on the tailbone. Moreover, the structure which provides the footrest 14 with the strap 14a near the lower part of the side frame 3 is also possible. With the device 10 having this configuration, it is possible to reduce the adverse effects caused by sitting in a wheelchair for a long time.

  Staying seated for a long time is detrimental to the patient's health and adversely affects many basic physical functions, including the digestive system, cardiovascular, and respiratory systems. If the patient can walk around, the patient can periodically change to an upright posture or a posture close to an upright posture, recover the patient's physical functions, and avoid subsequent deterioration of health.

The movement assistance device 10 of the present invention can also function as a conventional walker. The patient can hold the handle 4 and stand behind the device to walk, like a conventional walker. The user can use the handle 4 "as is", or the handle can be reversed.
The movement assistance apparatus 10 of this invention can be utilized also as a wheelchair. If the handle 4 is reversed and the footrest 4 and the suspending seat 13 are attached, it becomes a wheelchair, and other people can push from behind the device.

  In the movement assistance apparatus 10, it is recommended that a user moves around using his / her foot as much as possible. In contrast, wheelchair users who have been sitting for a long time usually have poor blood circulation, which can cause poor digestion, mental anxiety and significant discomfort. The device 10 aims to wake up and move as much as possible, improve health, energize the lifestyle and allow walking as part of everyday fitness.

  The device 10 is used in connection with rehabilitation therapy. Users receive a treatment under the guidance of a physical therapist or medical professional, and move from a sitting posture to a posture that is close to an upright posture and to a completely upright posture. Starting from a low position close to sitting, the user's feet should be in front of the device as if sitting in a chair. As the treatment progresses, the user's function recovers and improves, and the posture height gradually increases. This process should continue until the user is determined to be upright by the instructing health care professional. When the user completes the treatment and no longer needs the device (such as when the knee is surgically healed), the user can walk again without the device. If the user still has to walk using the device (for example, due to a permanent foot injury), the user will continue to use the device.

  As shown in FIGS. 3 to 6, the device 10 can assist the recovery of the user's walking ability through a rehabilitation program. Furthermore, by assisting in the control of the weight load, it is possible to increase toughness, flexibility and mobility, and to improve cardiopulmonary function. FIG. 2 is a front view showing the disabled person supported at a predetermined position by the apparatus 10 and the belt 2. In order to show that it is possible to move effectively by using the apparatus 10 and it is not necessary to use both hands, the patient's hands are intentionally raised above the head in the drawing. This figure shows the handle 4, the hinge post 6, the hinged arm mechanism 5, the side frame 3, the caster type wheel mechanism 7, and the like. It shows that the user can move in a full standing position without having to support with both arms.

By using the mobility assist device of the present invention, the patient can greatly reduce the discomfort and load on the contact surface of the prosthetic leg or the ankle, knee, buttocks, hips, elbows, and shoulder joints, and a complete standing posture It is possible to move around in a posture close to a complete standing posture (the foot is in an intermediate state from a seated state to a standing state). The state of the user's hip posture / rise posture may also be included in the “state close to a complete standing posture”.
If the apparatus 10 is used, the dependence on a wheelchair is reduced or eliminated, and walking for a long time becomes possible. The patient can also use his hands for other purposes. The device 10 stably supports the user while moving in the wheelchair passages, ramps, paths, rooms, indoor and outdoor facilities, various other places (developed places), etc. Can do. The device 10 is also adapted to assume a comfortable sitting posture when the patient wants to sit down. In this embodiment, the apparatus can be folded into a compact shape and can be transported as a car trunk or an airplane checked baggage.

FIG. 2 is a front view showing a user who uses the movement assisting device 10 and is assisted by a walking seat and a belt. The user is away from the hinged arm mechanism 5 and in the middle of the two side frames 3. The handle 4 is positioned approximately on the waist level on both sides of the patient. The hinges 5h1, 5h2, and 5h3 are used to lock the side frames 3 firmly to a predetermined position and are attached to the hinged arm mechanism 5. The hinges 5h1, 5h2, and 5h3 are used to fold the device to a convenient size when the device is put away or carried.
The weight of the user can be up to 100% of the body weight deposited with the device. The walking seat 1 with the belt, the hinged arm mechanism 5 and the hinge post 6, the side frame 3, the wheel mechanisms 7 and 8, Supported by the floor.

  FIG. 2 a shows details of the back of the user sitting on the walking seat of the device 10. This figure is superimposed on the user's pelvis and waist so as to emphasize the position of the sciatic nodule on the gait sheet while operating the device 10 and the relative positional relationship with the belt 2. Show. The walking seat 1 does not have a portion corresponding to a “nose” or a “projection” unlike a general bicycle saddle. In addition, since the walking seat 1 fixes the sciatic bone in the front direction, the patient's foot can freely move back and forth during walking. The contact surface with which the sciatic bone is in contact in the standing posture is much less than the contact surface in the seated state and has a vertical orientation. Accordingly, in order to support the sciatic bone that supports the weight, the device 10 requires another support (that is, the belt 2) in addition to the walking seat 1 while standing or walking.

  FIG. 3 shows the posture of the user immediately after the start of use and at the stage of adaptation. As a rehabilitation process, it takes time for a user in a relatively low posture to get used to using the foot at the start of rehabilitation, and to strengthen the foot more. Each figure shows the intermediate posture between the normal sitting posture and the full standing posture of the user step by step. Go.

  FIG. 4 shows the second stage position of the user in the apparatus 10 as the rehabilitation process proceeds. In this figure, the user has a posture of about 2/3 of a complete upright posture. This means that the user has gained strength and ability on the injured leg and has become more accustomed.

  FIG. 5 shows the posture of the user about 80% of the fully upright posture while using the apparatus 10. At this stage, the user usually moves around comfortably using the device 10 and is approaching later in the rehabilitation process.

FIG. 6 shows the posture of a user that is 95% or more of the fully upright posture while using the apparatus 10. The user is in a state where the rehabilitation process has been completed or almost completed.
This state is a desirable attitude that should be taken continuously to maximize health and lifestyle quality if the user is required to use the device 10 over the long term.

  FIG. 7 is a side view of the apparatus 10, showing the handle 4, the hinge post 6, the hinged arm mechanism 5, the side frame 3, the rear wheel mechanism 8, and the caster wheel mechanism 7 from different angles. is there.

  FIG. 8 is a plan view of the apparatus 10 and shows in detail the structure viewed from above. Further, a walking seat 1, a belt 2, a side frame 3, a handle 4, a hinged arm mechanism 5, a caster type front wheel mechanism 7, and a rear wheel structure 8 are illustrated.

  FIG. 9 is a perspective view of the apparatus 10 as viewed from the front in a fully opened state. In this orientation, the hinged arm mechanism 5 is perpendicular to the side frame 3. The rear wheel mechanism 8 is disposed near the rear of the side frame 3. Similarly, the caster-type wheel mechanism 7 is disposed near the front of the side frame 3 (in the direction opposite to the rear wheel mechanism 8). FIG. 9 illustrates a state in which the belt 10 is omitted and the apparatus 10 is fully opened in order to clearly show the main components of the apparatus 10 other than the belt 10, and the user proceeds using the apparatus 10. The direction to do is the front.

  FIG. 10 is a front perspective view of the device 10 in a completely closed state. In this closed state, the apparatus can be carried by being loaded into the trunk of a car or brought in as a checked baggage of an aircraft. As shown in FIG. 9, the rear wheel mechanism 8 and the caster type front wheel mechanism 7 are reversed and rotated inward by 180 degrees toward the center of the side frame 3. This rotation can reduce the overall depth of the device by about 35%. The hinged arm mechanism 5 is folded inward so that its arrangement is substantially parallel to the side frame 3. With the hinged arm 5 folded, the width of the device can be reduced by approximately 67%. Thus, the size and bulkiness of the apparatus 10 can be minimized by making the shape that can be easily cleaned up in the minimum space and can be moved easily.

  FIG. 11 shows the apparatus 10 in a fully opened state. The hinged arm mechanism 5 includes a left horizontal arm 5a, a right horizontal arm 5b, hinge cylinders 5h1 and 5h3, and a center hinge 5h2. When fully opened, the components of the hinged arm mechanism 5 are arranged along a single plane in the device 10.

  FIG. 12 is a front view of the device 10 in a half-opened state. In this figure, the hinged arm 5 is rotated in the hinge cylinders 5h1 and 5h2, and the center hinge 5h3. The left horizontal arm 5a and the right hinged arm 5b are oriented at about 90 degrees with respect to each other.

  FIG. 13 is a front view of the device 10 in a completely closed state. The left hinged arm 5a and the right hinged arm 5b are approximately 15 degrees from each other and are almost horizontal.

  FIG. 14 is a side view of the device 10 in a completely closed state. In this figure, the hinged arm mechanism 5 is folded inward, and the rear wheel mechanism 8 and the caster type front wheel mechanism 7 are turned 180 degrees from the fully opened position.

  FIG. 15 is a plan view of the device 10 completely closed. The hinged arm mechanism 5, the rear wheel device 8, and the caster type front wheel mechanism 7 are inverted so as to have a shape that minimizes the installation area of the device 10.

  FIG. 16 is an exploded view showing the main members of the apparatus 10 in an easy-to-understand manner. This clearly emphasizes each basic shape. The walking seat 1 is shown in a front view. The belt 2 is also a front view, but the side frame 3 is shown in a side view. The handle 4 is shown in a side view. The left hinged arm 5a and the right hinged arm 5b are shown in a front view. The hinge post 6 is shown in a front view. The caster type front wheel mechanism 7 is shown in a side view. The rear wheel mechanism 8 is shown in a side view.

  FIG. 17 is a detailed rear view near the top of the apparatus 10. This figure shows the locking function for the walking seat 1, hinge cylinders 5 h 1 and 5 h 3, the central hinge 5 h 2, and the hinge post 6. The belt 2 is firmly fixed to the handle 4 with bolts, nuts, and washers. The cam lever 9 is fixed to the hinge column 6 with a bolt, and provides a locking function of the handle 4 with respect to the hinge column 6.

  The cam locking lever 11 is a member that tightens or loosens the hinge cylinders 5h1, 5h3 and the central hinge 5h2 that open and close the device 10. The user can also stand on the back side of the device, grab the handle, and walk like a conventional walker. The handle can be left as it is, or it can be reversed and gripped as desired.

  FIG. 18 is a side view of the side frame 3. The side frame 3 uses a second locking cam lever 9 similar to the hinge post 6. When the cam lever 9 is pulled up, a height adjustment function (described later) is activated.

  FIG. 19 shows the hinge column 6. This shows the basic shape of the hinge post 6 by removing the cam lever 9 and the bolt structure. The height adjustment function 6a is a slot that becomes a bolt joint portion of the cam lever 9 for tightening or loosening the handle 4. Once the cam lever 9 is loosened, the spring button 4b is pressed, and the height adjustment function 6b works to allow the handle 4 to move up and down (see FIG. 20).

  FIG. 20 shows details of the lower part 4a of the handle 4 including the spring button 4b in an open state (unlocked state) and a closed state (locked state). When the cam lever 9 is rotated and pushed up, the spring button 4b is pushed down via the height adjusting function 6b, so that the handle 4 moves up and down at a predetermined position on the hinge column 6. When the cam lever 9 is rotated and moved downward, the spring button 4b enters into one of the holes of the height adjusting function 6b, thereby being locked.

  FIG. 21 is a side view and a plan view of the cam lever 9. The cam lever 9 can be rotated around the bolt in the hole 9a by applying a force to the cam handle 9b, and moves up and down with rotation. The cam 9c can adjust the strength of contact between the cam lever and the handle 4 during opening and closing.

  FIG. 22 is an assembled front view of the hinged arm mechanism 5 and its locking mechanism components. In the device 10 in use, the left hinged arm 5 a is locked to the right hinged arm 5 b via the cam lever lock 11. Similarly, the left hinged arm 5 a and the right hinged arm 5 b lock the hinge column 6 through the lever 11. Similarly, the seat 1 is locked through a cam lever 11 located on the seat holder 5c.

  FIG. 23 is an exploded front view of the hinged arm mechanism 5. The left hinged arm 5a is firmly fixed to the right hinged arm 5b, and the shaft can be freely rotated between the hinged arms 5a and 5b.

  FIG. 24 is a detailed front view of the hinge cylinder 5h1 when the cam lock lever is shown together and when the cam lock lever is not shown. The slot 5e is a window provided on the hinge cylinder 5h1 for attaching the cam lock lever 11 to the hinge column 6 through the hinge cylinder 5h1. When the cam lock lever 11 is pulled up, the force applied between the hinge cylinder 5h1 and the hinge post 6 is relaxed, and the hinge cylinder 5h1 and the hinge post 6 can freely rotate (up to about 80 degrees). When the cam lock lever 11 is pushed down, a force to firmly fix the hinge cylinder 5h1 and the hinge post 6 is generated. Similarly, the same operation can be performed between the hinge cylinder 5h3 and the hinge column 6 and between the central hinge cylinder 5h2 and the central cylinder 5d (this interface can be rotated 180 degrees).

  FIG. 25 is a side view and a plan view of the cam lock lever 11. When the cam handle 11e is moved up and down, a cam function 11a that rotates around the cylinder 11b is generated, and the movement of the hinge component (the hinge 5h1, 5h2, 5h3 with respect to the hinge post 6 or the cylinder 5d) via the bolt 11d. The washer 11c that locks or loosens the tightening state can be pressed or loosened.

  FIG. 26 is a side view of the caster type front wheel mechanism 7. In the figure, a height adjusting shaft 7a having a spring button 7b in the vicinity of the upper end is shown. The wheel 7d of the caster can rotate 360 degrees, and includes a bearing that can be smoothly rotated in the bearing shaft 7e. By providing the offset 7c, the caster can be positioned on the front side to ensure excellent weight distribution and stability, while the device can be closed in a compact shape during transport. As another embodiment, a configuration in which the offset 7c is not provided with emphasis on downsizing the apparatus size during the operation by the user is possible. For small people and small rooms such as warehouses, a configuration without this offset is desirable.

  FIG. 27 is a side view of the rear wheel mechanism 8. A height adjusting shaft 8a including a spring button 8b is provided. By providing the offset 8c, an offset can also be set for the rear wheel mechanism 8d that is not a caster type, and the maximum weight distribution and stability can be ensured, while the apparatus can be closed in a compact shape during transportation. The rear wheel mechanism 8 includes a mounting shaft 8e to which a spring type brake lever 12b connected to a brake system via a brake cable 12a is attached. As another embodiment, a configuration in which the offset 8c is not provided with an emphasis on downsizing of the apparatus size during operation by the user is possible. For small people and small rooms such as warehouses, a configuration without this offset is desirable.

  FIG. 28 is a detailed view showing the configuration of the height adjustment function of the wheel mechanisms 7 and 8 in a closed and connected state and in an opened and removed state. Once the cam lever 9 is raised, the spring button 7b or 8b is pushed in and the height of the device 10 can be adjusted up and down.

  FIG. 29 is a diagram showing the belt 2, in which the left belt portion 2a2 and the right belt portion 2a1 are fastened by connection with the female member 2d and the male member 2e of the latch fastener. The belt 2 is fixed to the handle 4 with bolts through the eyelets 2b. The belt is supported by a belt loop 2c, and the belt includes a belt strap 2f so that it can be adjusted to a length suitable for users of various physiques.

  FIG. 30 shows the configuration of the belt 2 clearly with the latch clasp removed. Two members, a left belt portion 2a2 and a right belt portion 2a1, are included. The latch fitting of the belt 2 can be quickly removed, and is similar in design and operation to that used in a seat belt of an automobile or aircraft.

  FIG. 31 is a front perspective view of the walking seat 1 including the shaft 1a, the cushion 1b, and the cut 1c. The walking seat 1 gives a repulsive force to the user's waist and pelvis when moving the user's weight from the foot to the device 10 side, and operates in conjunction with the belt 2. By design, the walking seat 1 is configured such that the foot can freely move back and forth when walking using the device 10.

  As clearly shown in FIG. 31, a front surface of the walking seat 1 is provided with a support surface having an angle so as to easily come into contact with the user's waist and pelvis.

  FIG. 32 is a side view of the handle 4 including the brake cable 12a and the brake handle 12c. Since the handle body 4b is covered with the firing grip 4a, it is easy to grip. The belt 2 is fixed to the handle 4 with a bolt through the attachment hole 4c. The height adjustment shaft 4d includes a spring button, and adjusts the height level in conjunction with the height adjustment function 6b of the hinge post 6.

FIG. 33 shows the configuration of the apparatus 10 to which the optional suspension sheet 13 is attached.
The suspension seat 13 is a comfortable seating position for the user when not walking using the device. The suspension sheet 13 is attached to the frame 3 so as to ensure safe seating.

  FIG. 34 shows the configuration of the device 10 when the handle 4 is attached in the opposite direction. The device 10 can optionally be used as a “typical” rear upright walker by allowing the user to reversibly orient the handle 4.

  FIG. 35 shows the configuration of the device 10 in the case of the wheelchair type as an option. A footrest 14 is added together with the attached tension sheet 13, and the handle 4 is reversed. An optional configuration that pushes the user by an attendant is also possible. The walking seat 1 can also serve as a backrest when used for a short period of time, but in order to be used more comfortably over a long period of time, an additional configuration of a backrest for long-term use (not shown) is also possible.

  Next, the weight variations of “weight type” and “light weight type” of the electric option of the apparatus 10 will be described. Heavy type devices use components that are commonly used in electric wheelchairs. The light-weight type device replaces an independent motor-driven wheel and a wheel mechanism (not a caster type). These are controlled by the user by using the controller unit via the control lever. In other words, this is due to the operation of a control lever that is also used in a conventional electric wheelchair. Next, an electric embodiment will be described.

  FIG. 36 shows a configuration of the device 10 when converted to a lightweight type electric mobility assist device 10M. The configuration of the electric movement assisting device 10M includes the same components as those of the device 10 described above including the seat 1, the belt 2, the side frame 3, the handle 4, the hinged arm mechanism 5 and the hinge column 6. Device 10M operates in either power assist walking mode or full electric chair mode.

  When the footrest 14 is attached and used, the device 10M becomes a complete electric wheelchair and supports movement in the wheelchair. In the configuration in which the footrest 14 is not attached, the user can walk with the assistance of the motor partially or wholly by advancing the device electrically. Regardless of the configuration, the LCD display 17 and the control lever, the motor-driven caster wheel height adjusting mechanism 21 and the hub wheel mechanism 15 are used for modification.

  Hub wheel mechanism 15 includes a wheel with a built-in drive motor. The height adjustment is controlled via a height adjustment motor 19. The device 10M includes a controller unit 16 and a sensor 18. The controller unit 16 adjusts the height up and down via the control lever and the LCD unit 17, and inputs user instructions regarding driving operations such as forward, stop, and detour of the device.

  The sensor 18 is used by the controller unit 16 to visually recognize an obstacle and avoid a collision with the obstacle. These sensors 18 allow automatic operation of the device 10M. The intended use of the sensor includes detecting a trajectory indication band and other landmarks for positioning.

  FIG. 37 is a top view of the suspension sheet 13. This sheet is made of a high-strength fabric, and can be easily installed by stably fixing the tension sheet 13 to the side frame 3 using the male connector 13a and the female connector 13b of the latch fitting. 10, 10M and other device configurations can be installed. The suspension sheet 13 can be folded small so as to be easily stored when not in use.

  FIG. 38 is a perspective view of the footrest 14 attached to the caster type front wheel mechanism 7 or the caster type wheel mechanism 21 provided with the offset 7c. It includes a foot strap 14a, a footrest 14b, and a footrest snap mechanism 14c. The left and right footrests 14 are the same, and one is rotated 180 degrees and attached symmetrically.

  FIG. 39 is a perspective view of the LCD control unit 17 with a control lever. This unit includes a control lever 17a, a button control 17b and an LCD display 17c. The control lever and the LCD unit have an interface to the user's smartphone. The user's smartphone can be used instead of the button control 17b and the LCD display 17c. The LCD control unit 17 with a control lever can be operated in a voice input mode via a smartphone.

  FIG. 40 shows the height adjusting motor 19. The height adjustment motor 19 includes a gear 19a that moves the device 20 up and down based on a user instruction via the LCD unit 17 with a control lever.

  FIG. 41 is a view showing the caster type wheel mechanism 21. The caster-type wheel mechanism 21 includes a linear movement mechanism driven by a height adjusting motor 19 for moving the device 20 up and down and a gear 19a.

  FIG. 42 is a diagram showing the rear wheel mechanism 15. The rear wheel mechanism 15 includes a hub wheel 15c, a hub wheel electric control cable 15a, a linear moving mechanism 15b driven by a height adjusting motor 19, and a gear 19a for moving the device 20 up and down.

  FIG. 43 is a side view of the hub wheel 15 including the hub wheel electric control cable 15a and the hub motor cover 15b. If the left and right hub wheels 15 are synchronized and rotated at the same speed and in the same direction, the device 10M moves both forward and backward. If the left and right hub wheels 15 are synchronized and rotated in opposite directions, the device 10M can be bent with a small radius. In the case of a large turn to the left, the rotational speed of the right hub wheel may be made larger than the rotational speed of the left hub wheel 15. If you make a big turn to the right, you can reverse. Instructions for the rotation speed and rotation direction of each hub wheel 15 are made via the LCD controller unit 17 with a control lever.

  FIG. 44 shows the hub wheel 15 with the cover 15b removed to make it easier to see the motor wing 15c and the electric control cable 15a. The hub wheel 15 has a structure capable of automatic operation while reducing the weight of the device 20 as in the case of a heavy-weight device configuration described later.

  As shown in FIGS. 43 and 44, the hub wheel motor 15 is housed in a tire rim by a hub cap or a cover 15b. The rubber tire is mounted on the outer periphery of the rim. The hub cap is provided with an opening through which the cable 15a is inserted. The cable 15a supplies power similarly to the supply of the control signal to the motor. The cable 15a passes through the shaft in order to conduct into the motor casing. The cable 15a includes a plurality of electric wires connected to electronic components mounted on the printed circuit board. Not all wires are shown. The number of wires can vary depending on the function required. The printed circuit board is mounted on the control board in the motor. In one embodiment, the control panel is made of a thermally conductive material such as aluminum and is fixedly attached to the center shaft with screws so as to be able to rotate following the rotating shaft. The rotation shaft is assumed to be attached along the central axis. The reason why the shafts are aligned is to allow the motor to operate more smoothly. A series of magnets 15c are mounted inside the motor. These magnets are arranged adjacent to each other with a slight space from the radially arranged coils. Although there are a plurality of coils made of electric wires wound around spokes called stator iron cores, they are not shown. There is a rotating ring-shaped permanent magnet (stator) on the outer side, and the inner metal core (rotor) is fixed. When the motor is turned on, the stationary rotor remains stationary and the stator rotates. Wheel rubber and tires are attached to the motor, and the vehicle moves forward by the power of the wheels when the outer part of the motor rotates.

  The sensor is mounted on the hub wheel motor. As the sensor, an encoder such as a line sensor, a capacitor sensor, a Hall effect encoder, or an LED-based sensor can be applied. The Hall effect sensor senses electric power consumed by a motor by sensing current based on a potential change generated in a device by passing a current through a load. Hall effect devices have high operation reliability even in extreme environments, and are often used for operation detection sensors, operation limit switches, and the like. Since there is no mechanical drive portion, it is more reliable than conventional electrical elements. Moreover, a detection part and a magnet can be enclosed in a protective material. Hall effect sensors are also used as replacement parts for conventional mechanical contact parts for automobiles. For example, it is also used as a device that synchronizes the ignition cycle of an engine. The Hall effect sensor is formed in such a manner that the permanent magnet of the stator and the Hall effect element are arranged to face each other with a slight gap. A metal rotor having a winglet and a window frame is attached to the shaft and is arranged to pass through the gap between the permanent magnet and the Hall effect element when the shaft rotates. According to this configuration, shielding and exposure of the magnetic field of the permanent magnet to the Hall effect element are effectively switched depending on whether the winglet is passing or the window frame is passing. The processor or controller is equipped with an idling prevention function as vehicle driving support. The controller can control the motor 15 with the power regeneration function. In one embodiment, a chopper circuit is used as the power regenerative brake control circuit. The chopper circuit is a circuit that forms a closed loop including at least a motor, a reactor, and a chopper. The motor is used as a generator while the brake is operated. Thus, the current generated by the motor flows in a closed loop, thereby storing magnetic energy in the reactor. The chopper voltage drop and other contact resistances are so small that the voltage passing through the reactor is roughly equal to the voltage generated by the motor. The chopper is then opened, thereby connecting the series connected motor and reactor to the power source. The motor and reactor voltages are higher than the power supply voltage. When the energy stored in the reactor is reduced and the voltage passing through the series-connected motor and the reactor falls and decreases to a level lower than the power supply voltage, the current flowing into the power supply is accordingly zero. By closing the chopper circuit again after reducing the current to the power supply, the motor current increases, thereby increasing the voltage through the reactor. Then, when the motor circuit is connected to the power source again, a reverse current flows again to the power source. By repeating the above process, the motor current, that is, the power regenerative brake current is controlled.

  FIG. 45 is a front view of the device 20 and the device user. In this device 20, a harness 23 is used instead of the walking seat 1 and the belt 2. The user's weight (close to 100%) moves from the user's foot via the harness 23. When operating the device 20, the user walks with the least possible force (comfortable force) with one or both feet. The caster-type front wheel mechanism 7 and the rear wheel mechanism 8 allow the user to make a detour and move forward with the minimum required force through the user's foot, so that a user with severe disability can proceed safely and conveniently. It is possible. In this regard, the device 20 is considered functionally equivalent to the device 10.

  FIG. 45 shows the main structural components of the device 20. The device 20 includes a side frame 3, two handles 22, a hinged arm mechanism 24 and a hinge post 6. The harness 23 is fixed to the handle 22 and is connected to the side frame 3 via a hinge post 6 and a hinged arm mechanism 24. These structural members are the same as the apparatus 10 except that the hinged arm mechanism 24 that does not support attachment of the walking seat 1 and the handle 22 is extended to a length that allows the harness 23 to be attached. It is. The device of FIG. 45 is used in connection with the rehabilitation treatment process. The user moves from a state such as a sitting posture to a completely upright posture or a posture close to it through treatment under the guidance of a physical therapist or other medical personnel. Since the user starts using the device from a setting with a relatively low waist, the user is in a posture in which his / her leg protrudes forward from the harness in the same manner as when sitting on a chair. As treatment progresses and the user's condition improves, the height of the harness gradually increases. This process continues until the instructing health care professional determines that the user is upright. If the patient has completed treatment and no longer needs the device (eg, if the knee has been surgically healed), the user will be able to walk without the device. If the user still has to walk using the device (for example, if a foot injury remains permanently), the harness will remain installed.

  FIG. 46 is a front perspective view of the device 20. Two side frames 3, two caster type front wheel mechanisms 7 and rear wheel mechanisms 8, two handles 22, a hinged arm mechanism 24, and a hinge post 6 are included. The harness 23 is firmly fixed to the handle 22 and is connected to the side surface of the side frame 3 via a hinge post 6 and a hinged arm mechanism 24. The hinged arm mechanism 24 is disposed perpendicular to the side frame 3. The rear wheel mechanism 8 is provided behind the device 20 in parallel with the side frame 3. The caster-type front wheel mechanism 7 is provided in front of the side frame 3 (in a direction opposite to the rear wheel mechanism 8), that is, in a direction in which the user proceeds using the device 20.

  47 is a front perspective view of the device 20 in the fully opened state, and shows the harness 23 connected to the handle 22 at an angle different from that in FIG. FIG. 48 is a front view of the harness 23 and is firmly fixed to the handle 22 via the strap 25. The harness 23 is firmly fixed with bolts 23 a at the same height as the handle 22. In this figure, a harness latch 23b, a waist belt 23c and a foot belt 23d are shown. The weight of the user is supported by a combination of the waist belt 23c and the foot belt 23d, and is hung on the handle 22 by the attachment strap 25. These are functionally similar to the walking seat 1 and the belt 2 that support and move the weight of the user.

  FIG. 49 is a front view of the harness 23 showing the harness latch 23b, the waist belt 23c, and the foot belt 23d in detail.

  On the other hand, FIG. 50 illustrates the attachment strap 25 showing how it can be fastened to or removed from the harness 23 and the harness latch 23b.

  FIG. 51 is a front perspective view of the device 20 with the harness 23 omitted, and how the shapes of the handle 22 and the hinged arm 24 differ compared to the configuration of the device 10, and how It is shown whether it is similar to.

  52 is a front view of the device 20 with the harness 23 omitted, showing how the configuration of the device 10 differs from the shape of the hinged arm 24 and how they are similar. Is.

  FIG. 53 shows another configuration example of the apparatus 20 having variations of the handle 26, the hinged arm mechanism 27, and the side frame 28. Also in this figure, the harness 23 is omitted for easy understanding of the apparatus 20A. In the configuration of the device 20A, many parts common to the configurations of the device 10 and the device 20, such as the caster type front wheel mechanism 7 and the rear wheel mechanism 8, are used.

  54 is a side view, a front view, and a top view of the apparatus 20A including the side frame 28 and the hinged arm mechanism 27. FIG.

  FIG. 55 is a detailed cross-sectional view of the hinge and locking mechanism of the device 20A. In the side frame 28, an extraction pin 28b for firmly fixing the hinged arm mechanism 27 is attached to the flange 28a. The extraction pin 28b includes a spring 28c. When the extraction pin 28b is pulled out, the hinge bolt 31 included in the hinge cylinder 27a can move freely in the axial direction. The hinge cylinder can be freely opened and closed by a bearing 29. This hinge and locking mechanism is functionally the same as described for the device 10.

FIG. 56 is a front perspective view of another shape of the movement assisting device 30. Device 30 is an alternative design for side frame 32. In this figure, the belt 2 used in the apparatus 30 is not shown. The hinged arm mechanism 33 is basically the same structure as the hinged arm mechanism 27 of the device 20 except that it includes a seat attachment function similar to the hinged arm mechanism of the device 10.
The walking sheet 34 is similar to the walking sheet 1 of the device 10, but a slightly different one is shown. When operating the device 30, the user is walking with the least possible force on one or both feet (comfortably). The caster-type front wheel mechanism 7 and the rear wheel mechanism 8 can bend and advance with the minimum necessary force by the user's feet, and can be advanced safely and conveniently even by a severely disabled person.

  FIG. 57 is a front view of the device 30 and the device 30 showing the user. The device 30 is functionally the same as the device 10, but is designed to allow more freedom of movement of the user's upper body. The device 30 has no structure protruding above the user's waist, and in particular, since the device 30 has no handle, the user's upper body moves more freely. For an improved user, the device 30 having no braking function shown in the following figure is more suitable.

  FIG. 58 is a side view showing a state of the device 30 when the user is walking. Since this figure does not have a walker structure up to the user's waist level, the upper body moves more freely.

  FIG. 59 is a side view of the device 30 shown with the belt 2 removed.

  FIG. 60 is a front view of the device 30 shown with the belt 2 removed.

  FIG. 61 is a plan view of the device 30 shown including the belt 2.

  FIG. 62 is a front perspective view showing the hinged arm mechanism 33 on which the walking seat 34 is installed. The hinged arm mechanism 33 is locked by the extraction pin 28b, and shows a state where the extraction pin 28b is extracted and a state where it is locked by the extraction pin 28b.

  FIG. 63 is an exploded front perspective view of the hinged arm mechanism 33 and the walking seat 34. The seat attachment includes a cam lever lock 11. The main difference between the walking seat 1 and the walking seat 34 is the presence / absence of the bent seat support 34b.

  FIG. 64 shows a side perspective view of another shape of the movement assist device 40. The device 40 is an alternative design for the side frame 37. This figure shows the walking seat 34 and the belt 2 that firmly fix the user in the correct position. The device 40 uses the same hinged arm mechanism 33 and the walking seat 34 as the device 30. The main difference between the device 40 and the device 30 is the presence or absence of the handle 36. These handles 36 are T-shaped and can be gripped comfortably by the user. When operating the device 40, the user can walk with a light force (or comfort) with one or both feet. The caster-type front wheel mechanism 7 and the rear wheel mechanism 8 can bend and advance with a minimum force through the user's foot, so that even a severely disabled person can proceed safely and conveniently.

  FIG. 65 is a side perspective view showing another shape of the movement assist device 50. The device 50 uses the harness 23 to fix the user. The device 50 uses the same hinged arm mechanism 27 as the device 20. The parts of the device 50 are basically the same as the parts of the device 40. When operating the device 40, the user walks with as little force (or comfort) as possible through one or both feet. Since the caster-type front wheel mechanism 7 and the rear wheel mechanism 8 can be detoured and advanced with a minimum force through the user's foot, a severely disabled person can proceed safely and conveniently.

  FIG. 66 is a side perspective view of the device 50 with the harness 23 omitted to show the shape of the device more clearly.

  FIG. 67 shows the handle 36 being used for both devices 40 and 50. The mechanism for adjusting the height of the handle is the same as the mechanism using the spring button used in the apparatus 10.

  FIG. 68 is a development view of the carry case 39. A left module 39a, a right module 39d, and foam pads 39b and 39c are included.

  FIG. 69 is a diagram showing a state in which the carry case 39 is closed. The structure 39e can be stored in the wheel storage case 41. This is shown in more detail in FIG.

  FIG. 70 shows the wheel storage case 41. The wheel storage case 41 can be removed from the case 39 when the user wants to move the carry case instead of the walker instead of carrying the carry case.

  FIG. 71 is a diagram showing the carry case 39 in an open state and the walker stored therein. The wheel storage case 41 is removed in this state.

  72 is a cross-sectional side view of the carry case 39 with the wheels attached and the wheel storage case 41 removed.

  FIG. 73 is a side view of the carry case 39 with the wheels attached and the wheel storage case 41 removed.

  FIG. 74 is a side view of the carry case 39 with the wheel storage case 41 attached.

  FIG. 75 is a front perspective view of the weight type movement assisting device 60. The device 60 uses the side frame 32, the hinged arm mechanism 33, the walking sheet 34 of the device 30, and the LCD 17 with a control lever of the device 10M. The device 60 uses the belt 2 but is not shown for the sake of clarity. These are mounted on the electric pedestal 43, and the user can perform operations similar to those of the apparatus 10M. The device 60 is suitable for use as an electric wheelchair. Compared with the apparatus 10, even when the passage is obstructed, the operation at the time of movement is easy. Like the device 30, it has no handle.

  FIG. 76 is a front perspective view of the heavy-duty type electric mobility assist device 70. The device 70 uses the seat 34 with the side frame 28, the handle 26, the hinged arm mechanism 33 and the LCD 17 with the steering lever of the device 10. Further, although the device 70 uses the belt 2, it is omitted in the drawing for easy understanding. These are mounted on the electric pedestal 43. The user can perform operations similar to those of the device 10M. The device 70 is suitable for use as an electric wheelchair or electric scooter. Compared with the apparatus 10, even when the passage is obstructed, the operation at the time of movement is easy.

  FIG. 77 is a perspective view of the electric pedestal 43. The electric pedestal 43 includes a mounting shaft 43a, a front wheel caster type wheel 43b, a rear wheel caster type wheel 43c, a drive wheel 43d, and a pedestal cover 44. Note that both the front and rear caster wheels rotate freely 360 degrees.

  FIG. 78 shows the LCD unit 17 with a control lever attached on the device 60 via the attachment 42. The host controller of the system controls all aspects of the operation of the device 10M, 60 or 70, and based on an appropriate operation signal from the LCD unit 17 with the steering lever in the operation mode, the device 10M, 60 or 70. Can be controlled. The controller receives “forward and back” movement and “left and right” steering operation signals. The system drives the motor at a selected speed according to an operation command input from the control panel. In the maintenance mode, any operation command input other than parking is ignored. In the maintenance mode, the controller controls the drive control unit, the motor or gearbox is in the neutral mode, and no brake or lock is applied. In the parking mode, the controller controls the drive control unit so that the motor is stationary and a gearbox or a brake is applied. The controller also manages all the auxiliary functions of the device, such as displaying the selected operating mode and displaying the safety interlock. The controller receives input signals from the collision detection device and the collision avoidance system, and controls the operation of the device according to predetermined parameter control or the like so as to avoid the collision. The controller controls all the LEDs that display the status related to the operation. The controller can also notify the status change with a beep. The controller is equipped with a log output function for data related to the overall operation and use of the device for external analysis as required. It also manages the allowable usage time, and if it exceeds the allowable usage time, it will not restart the operation or monitor the battery status to indicate that the battery status is below the preset usage rate. You can also do it. The controller has means for updating data and software via a computer port such as a USB port. The controller can update the allowable use time for the device 10, 60 or 70 by inputting the code number requested by the host computer or inputting the code data from the USB port. By monitoring the number of hours of use, for example, it is possible to predict that the battery voltage may decrease before the battery runs out and the unit may stop operating.

  The system has the ability to record the operational time of the device 10M, 60 or 70. The device 10M, 60 or 70 can notify the remote monitoring system whether the operable time is approaching the allocated time. It is preferred that the usage of devices 10M, 60 and 70 be recorded. Devices 10M, 60 and 70 preferably include an override system that dynamically raises the allowable limit level that the wheel can turn with the current supplying power to wheels 15 and 43d. When an acceptable limit level is reached or exceeded, operation will stop, but the override system may be used when the device 10, 60 or 70 and the device 10, 60 or 70 are climbing a steep slope. Operates when there is an overweight at 70 and one or more wheels have lost traction. In another embodiment, the device 10M, 60 or 70 includes a sensor that detects whether a predetermined weight limit has been exceeded, in which case the device is stopped. . In another embodiment, the device 10M, 60 or 70 has a sensor on the side of the device that detects tilt movement. In another embodiment, the devices 10M, 60, and 70 operate with a gradient sensor that can detect the slope of the gradient, or operation that prevents the device from continuing to move in the tilted direction if the device exceeds a limit. It has a processor to perform.

  In other embodiments, a smartphone equipped with appropriate software for controlling the motor via a wireless link (or wired link) such as Bluetooth (registered trademark) can also be used as the controller. The smartphone includes a liquid crystal display, and can receive input from the control lever by USB cable or Bluetooth transmission.

  Further, in other embodiments, the device 10M, 60 or 70 includes a collision avoidance system that can be avoided or stopped before contacting the object. The collision avoidance system includes a plurality of remote infrared ranging transceivers. The collision avoidance system includes an infrared CCD ranging sensor having the ability to detect obstacles located in the range of 0.01 meters to 5 meters from the sensor, preferably in the range of 0.01 meters to 1.6 meters. Yes. The collision avoidance system has a protective area set around the device 10M, 60 or 70. When an obstacle enters this area, an alarm is activated according to the programming. The outer periphery of the protection area is preferably in the range of the apparatus 10M, 60 or 70 to 1 meter to 2 meters, for example, about 1.2 meters. Further, the inner circumference of the protection area is preferably in the range of 0.01 to 1 meter. For example, the front side of the devices 10M, 60 and 70 is preferably about 0.3 meter, and the side surface is preferably about 0.8 meter. When an obstacle is detected by the infrared CCD sensor, it is arranged that a program for processing the avoidance operation of the devices 10M, 60 and 70 is started. Devices 10M, 60, and 70 include satellite navigation systems that assist in controlling movement in defined areas. Alternatively, for example, the controller senses a marker installed in the house, thereby supporting the movement of the apparatus to a predetermined place in the house. Examples of such markers include radio wave type, magnetic type and optical type markers. For example, the line sensor tracks and detects a line. Line sensors are manufactured using infrared sensors. The number and position of these sensors depends on the complexity of the path to be detected. If it is detected that the devices 10M, 60, and 70 are on the line, control is performed so that the position of the walking assistance device is moved so that the line returns to the center of the walking assistance device. Other positioning techniques can also be employed.

FIG. 79 is a perspective view of the pedestal cover 44, showing a footrest 44a, a shaft attachment opening 44d, a drive wheel opening 44c, and a shroud 44b that covers the drive system 43f and the suspension 43h.
The pedestal cover 44 provides a platform that protects and hides the structure under the sled as a hard case and places the user's feet.

  FIG. 80 shows the electric pedestal 43 with the pedestal cover 44 omitted to show the main components inside. The electric pedestal 43 includes a mounting column 43a, a front wheel 43b, a rear wheel 43c, a drive wheel 43d, a battery 43e, a drive system 43f, a suspension 43h, and a controller unit 43g. By operating the left and right drive wheels of 43d at the same speed in the same direction, the devices 60 and 70 move forward or backward. Also, the devices 60 and 70 can be bent with a small radius if the respective drive wheels are simultaneously rotated in opposite directions. In the case of a large turn to the left, the rotational speed of the right drive wheel 43d may be made larger than the rotational speed of the left drive wheel 43d. If you make a big turn to the right, you can reverse. The rotation speed and the rotation direction for each drive wheel 43d are supported via the LCD controller unit 17 with a control lever.

FIG. 81 is an exploded view of the electric pedestal 43 with the pedestal cover 44 removed in order to make the main components inside easier to see. The electric pedestal 43 includes a mounting support 43a, a front wheel 43b, a rear wheel 43c, a drive wheel 43d, a battery 43e, a drive system 43f, a suspension 43h, and a controller unit 43g.
More specifically, referring to the embodiment of FIGS. 1 to 81, the movement assist devices 10, 10M, 20, 20A, 30, 40, 50, 60 and 70 move weight from the foot to the sciatic bone, or Distribute from the walking seat to the pelvis using a wider belt or harness. The user's foot is then used to move the device (for the self-propelled embodiment) rather than fully supporting the user's own weight.
Using this device, keep your feet straight from a straight posture (in this device, the user's heel is floating from the ground and dribbling the ball using the back of the foot). Various postures are possible up to a posture positioned in front of the body (a posture in which the thigh is not vertical but the entire leg is inclined).

  FIG. 82 shows a usage example of the walking assist device 10 equipped with the conveyor treadmill device 46 for the purpose of rehabilitation. In the present embodiment, a conveyor-type treadmill 46 having a small and slim outline is attached to the lower part of the walking seat of the walking assist device 10. If the conveyor-type treadmill 46 is attached to the walking assist device 10, even if the user has a foot problem or a walking balance problem, the user can be in a relatively stationary posture. Even users who are prohibited from aerobic exercise can walk for a long time. If the walking assist device 10 to which the conveyor treadmill 46 is attached is used, a healthy result can be obtained even in patients who are difficult to train their feet or perform sufficient training by other methods. It is done. In the present embodiment in which the conveyor-type treadmill 46 is mounted, it is possible to exercise in a limited space even when a large area is usually required. The conveyor-type treadmill 46 includes a pedestal on which disabled persons can walk, a pair of rollers supported by the pedestal, and a belt that rotates around the rollers. The applicable motor drives the roller, which moves the belt. The upper surface of the moving belt is the walking surface for running and walking. The front strut extends from the pedestal to support the control panel. This control panel typically controls on / off of the conveyor type treadmill and controls the belt speed. In most cases, the control panel includes an indicator for displaying operation information such as a selected speed, a travel distance, and a time. The user can switch the display on the display by operating a button on the control panel.

  FIG. 83 shows the use process of the above apparatus. In this process, in order to accept the user, the arrangement of the first frame and the second frame located on the left and right of the user is adjusted by connecting the hinged arm mechanism, and the user's seat is on both sides of the user. Set (102). Next, the user comfortably puts the sciatic bone on the walking seat and tightens the belt firmly and comfortably with a belt to fix the waist to the walking seat (104). The walking seat is characterized in that the foot moves back and forth as it is, and the user walks while being fixed to the walking seat (106). As the patient progresses, the patient gradually transitions from a state such as a sitting position to a fully or nearly complete upright position (108). This treatment is continued until the medical staff providing guidance determines that the patient is in an upright position. Once the treatment is complete, the patient can no longer need the device (eg, if the knee has been surgically restored) and can walk without the device. Even if the patient continues to need the device for a long time (e.g., when the leg remains permanently damaged), the device can continue to be used.

  Portable mobility aids allow a patient in a standing or partially standing position to move around while greatly reducing the load and discomfort on the contact surface with the prosthetic leg or on the ankle, knee, waist, wrist, elbow, and shoulder joints. Is possible. This walking aid device potentially reduces or eliminates the dependence on wheelchairs. This walking assist device is compact in size, has simple maneuverability, and allows the user to take a standing posture or a partial standing posture, so that it is usually expensive for a wheelchair user. There is no need to renovate homes and offices.

  The walking assist device can use the hand for other purposes while the user is walking. In a more preferred embodiment, the wheelchair-accessible sidewalks, hills, paths, rooms, indoor facilities, outdoor facilities and, if properly paved, support the user firmly. can do. In addition, the apparatus can be folded compactly and can be carried in as a trunk of an automobile or a checked luggage of an airplane. Since this walking assist device can support a disabled person or an elderly person during walking, it enables walking training that minimizes the risk of falling or injury caused by walking. Such a walking device can reduce the degree of dependence on the wheelchair. By assisting with this system, walking can be promoted, skin slippage and the like can be prevented, and the blood flow of the user can also be improved. The pressure on the tailbone is reduced, and blood flow improvement and skin slippage due to reduced pressure on the waist can be prevented. Dermatitis can also be prevented by reducing long-term pressure and moisture on the skin.

  The walking assist device has many other advantages. For example, the ratio of the weight supported by this apparatus can be changed. For example, if the patient chooses to support about 50% of his weight with the device, the height of the posture taken by the device can be adjusted accordingly. Users and healthcare professionals decide how much the burden on the feet should be, and the ratio can be changed for each patient by adjusting the height as well as the posture when using the device. It is.

  The wheel mechanisms 7 and 8 enable natural back-and-forth movement and detouring with the minimum force that can be operated through the foot, not the patient's arm. For the belt 2 and the harness 23, a buckle of the same type (non-stretchable) as a seat belt of an automobile or an aircraft is used. Therefore, the user can ensure safety at the time of use, can get off immediately, and can easily make adjustments. Since the walking seat 1 including the belt 2 and the harness 23 is a member to which a load is applied, it is very important to ensure comfort. In order to realize comfort and freedom of foot mobility, the walking seat 1 emphasizes cushioning and adopts other functions similar to those of a bicycle seat. The shape of the present embodiment is such that the front shape of the walking seat is cut off at the front end so that free foot movement can be easily performed, and the tailbone is comfortable for a long term. In order to avoid excessive pressure, the shape is such that the tip is cut, but it is possible to replace the walking seat with any design. The harness 23 is designed to have functions of a harness for bungee jumping, a harness for rock climbing and mountain climbing.

  When the user does not move, the user can relax using the suspension tension sheet 13 for rest. The suspension sheet 13 enables the user to take a seated posture (the thigh is positioned horizontally and the foot comfortably sits on the ground).

  The design design of the electric pedestal 43 and the controller unit 43g is similar to the components of a battery-controlled wheelchair. This includes standard rechargeable batteries, drive motors, circuit boards, control levers, and other common components used in battery-controlled wheelchairs. The electrically driven wheel 43d can be electrically driven, and an independently controlled gear box is operably attached to the electrically driven wheel 43d. The electrically driven wheel 43d can also be operated in the reverse direction (such as rotating with a small radius). The frame of the electric pedestal 43 and the pedestal cover 44 are specific to the device 60 and the device 70, but other parts are also used in other devices.

  The configuration of this embodiment, shown in FIGS. 1 through 81, includes a tubular member that is welded, fused, pinned, or secured in place. These materials can be metal materials (such as aluminum, steel, titanium or other alloys), lightweight composites (such as graphite, glass fibers or carbon fibers) and reinforcing resins (such as For example, plastic resin) or a mixed member thereof. The ideal structure is one that is lightweight, structurally strong, and uses a rigid material, but like other devices, it is usually a tradeoff between weight and cost, which are important issues in material selection. There is a trade-off relationship.

  In one embodiment, the overall size of the mobility aid 10 is about 21 inches wide × about 25 inches deep × about height 42 inches (including adjustments). The movement assisting device 20 has a width of about 21 inches x a depth of about 25 inches x a height of about 32 to 42 inches (including adjustment). These can be adjusted according to the user's physique.

  The wheels are made of metal, rubber tires (pneumatic, solid or other structure tires), plastic and can be resized according to the purpose of use (smaller wheels with a diameter of about 4 inches, indoors with a diameter of about 8 inches) Larger wheels that are suitable for use, or larger than those that are suitable for outdoor use).

  The harness 23, belt 2, tension sheet 13 and latch strap 25 are mainly materials that supply shape, strength, comfort and adjustment functions such as nylon or similar materials and wires, cables, rubber or plastic parts. Made of lightweight and strong fabric.

  The mobility assistance devices 10 to 70 are of a size suitable for adults with average height and average weight. As a common design, height adjustment is adaptable to changes from below average to above average according to the user's request. The height adjustment is secured to plus or minus 4 inches or more from the normal height of the apparatus.

  The harness 23 can accommodate a waist size of about 28 inches to 42 inches or larger (larger sizes become more comfortable). The harness 23 and the walking seat 1 can be adjusted to more easily adapt to differences between men and women.

  Since the wheel mechanisms 7 and 8 are relatively distant from the center of gravity of the device (about 12-15 inches), the device is very stable and is not likely to tip over even when operating on a wheelchair passage slope. It has become.

  In the present embodiment, the person who transports the device can move by rolling the wheel, if necessary, rather than carrying the device.

  The wheel has different characteristics for indoor use for a user who mainly uses the device indoors and for outdoor use for a user who wants to use the device mainly outdoors.

  Variations on this device include brakes and suspension systems (to reduce sidewalks and step swings that are poorly paved), and other options (cage, bottle holders, cup holders) that increase patient convenience and comfort. Mobile phone stand, umbrella holder, etc.).

  These variations are assumed, although not shown. For example, in some embodiments of the mobility aid 10, the pocket structure is provided on one inner surface of the frame 3. The pocket structure comprises an elongate first pocket attachment that is secured to the frame 3 by means known to those skilled in the art, such as an adhesive, and further includes an elongate second pocket attachment. It is also possible to attach to other pocket attachments. The second pocket attachment body can be attached to and detached from the first pocket attachment body. A pocket is provided by attaching one or more pockets to a second pocket attachment. Therefore, the user can put various items (not shown) in the pocket and deploy the movement assisting device 10.

  The belt 2 may be designed to be connected to a side frame (for example, the side frame 3) and another belt or buckle. What is shown in the drawings is only one example of a simpler configuration. Such a connection can also be made by alternative means of attaching the harness 23 to the structure via other means via the latch attachment string 25, cable, rope, cloth or via a simple direct latch fitting. Is possible.

  There are other ways to arrange the side frames. The side frames are positioned evenly in front of and behind the user, and the user enters from the side of the device. The hinged arm mechanism is composed of a plurality of arms connected between the frames. The hinged arm can be placed behind the user, not the front of the user, as in the drawings described above.

  Another possible configuration is a method of connecting the suspension sheet 13 to the side frame. There are a plurality of methods for realizing the height adjustment function. Similar to possible variations for bicycle seats, the walking seat 1 also has various configurations. First, there can be various shapes. There are various shapes of the sheet 13 such as a rigid and semi-rigid sheet, a sheet structured to be attached to a hinged arm member instead of the side frame, and a foldable rigid sheet. There may be other methods for fixing to the walking seat. What has been described in the above embodiments is the simplest and most versatile structure.

  In the embodiment, the device 60 and the device 70 indicate an optional operation of the electric pedestal 43, but the power source can be used alternatively by a commercial power source of an electrical outlet, a solar cell, or an internal combustion engine as an example. is there. Unlike what was demonstrated with the structure of the electric base, what a user's foot contacts the ground is also possible as an alternative structure.

  The harness 23 may be composed of two or more separable parts. One is a member (such as the belt 2) that firmly fixes the patient in place, and the other is a structure that supports the user under the sciatic bone. Furthermore, the variation of the harness 23 may include a plurality of harnesses to be attached to the constituent members of the present embodiment, or other attachment means. For example, a “pants-type” or “skirt-type” (not shown) that supports weight, a pneumatic lift belt (not shown), or other legs that can support the pelvis and sciatic bone It is also possible to move the body weight from the foot by enabling free movement.

  For the height adjustment function, there are alternative means such as pneumatic springs used for height adjustment of many office chairs. The device can incorporate a dampening mechanism into the wheel mechanism 7 or the wheel mechanism 8 to smooth the feel on rough surfaces.

  The advantage of this embodiment is that the patient can move around in an upright posture or a substantially upright posture for a long time without limitation, while supporting the weight using a harness or a walking seat and a belt. This can reduce pain and discomfort from the contact surfaces of the associated joints and prosthetic limbs. Many users are expected to prefer to move around in a more upright position than to ride in a wheelchair or scooter.

  In addition, the device can be used from the first day of treatment when the user is unable to move and the use of the feet and joints is extremely restricted to the day when the damaged body function is finally and fully recovered. Designed to support the entire rehabilitation process so that it can adapt to moving.

  A significant advantage of this embodiment is that the user does not rely on the arm or shoulder to support his weight or operate the device, so the user can move more freely and use the arm for other applications. That is the point. Users can navigate and walk the device hands-free for other uses. This allows the user to more actively participate in various activities and achieve greater difficulty overcoming.

  Furthermore, for example, by moving in an upright or almost upright posture, it is not necessary to modify the home kitchen, office, or other equipment so that the user can easily move in a wheelchair. In many cases, the user will be able to use home appliances, toilets and other equipment without any movement problems as usual. Compared to currently available conventional mobility assistance devices, the walking assistance device of this embodiment has many other tangible and intangible advantages.

  According to the present embodiment, the user is firmly supported by the walking assist device, and the user can take an upright posture or a posture close to an upright posture while actively operating the movement assist device.

  The harness and the walking seat with belt are disclosed only as examples, and other options are also available. In addition, the present embodiment may have other designs that allow the patient's weight to be transferred to the ground or floor via the device in addition to the multiple design proposals for the structure described. Neither should be regarded as limiting this embodiment.

Although what has been disclosed in this specification is considered to be the best mode in the present situation, the technical scope of the present invention includes various variations, combinations, ranges of equivalents, and examples of alternatives. Should be interpreted.
As described above, the present embodiment should not be limited only to the above-described embodiments, methods, and examples, but should be construed to cover the entire scope of the invention based on the gist of the present invention.

Claims (21)

A first frame and a second frame, located on both sides of the user, each equipped with at least one wheel ;
A hinged arm mechanism connecting the first frame and the second frame;
An open type walking provided with a seat plate provided between the first frame and the second frame, which supports at least a part of the weight of the user in an upright state and has a front edge of a cut surface and an inclined surface on the upper surface a seat, provided at a location where the ischial tuberosity of the user of the upright position is located, the cut off surface is no other support structure in front of the front edge is, the front edge and the said seat plate The slope is positioned vertically below the user's sciatic nodule and supports the sciatic nodule from below ,
The belt is opposed to the front surface of the open seat, and the height of the arrangement is adjusted to the height of the sciatic tuberosity of the user, and the user of the open walk seat is in the standing state. A movement assisting device for assisting standing up or walking, comprising a belt for fixing the front edge and the inclined surface so as to abut vertically below the sciatic tubercle . Including a notch provided in the open walking sheet,
The movement assisting device according to claim 1, wherein pressure on the tailbone of the user is relieved by the cut. The open-type walking seat itself is divided into left and right parts, each of which is supported so as to be rotatable in a vertical direction around a horizontal axis, and the slope of each seat plate is in the vicinity of the corresponding sciatic nodule while supporting the movement assisting device according to claim 2, characterized in that pivots in the vertical direction independently about a horizontal axis with the walking of the user.   The movement according to any one of claims 1 to 3, wherein the first frame and the second frame include a height adjusting mechanism that adjusts a height to match a height of the user. Auxiliary device.   The movement assisting device according to claim 4, further comprising a height adjusting mechanism including a core pin capable of selecting a height and a manual expander or electric expander including a plurality of openings.   6. The movement assist device according to claim 5, wherein the electric extender includes a linear actuator or a pneumatic pump.   The hinged arm is foldable and includes a total of three hinge locations, one connected to the seat support and the other two at the locations where the first and second frames are connected, respectively. The movement assistance device according to claim 1, wherein the movement assistance device is connected.   4. The movement assisting device according to claim 1, wherein each of the first frame and the second frame includes one or more wheels.   The movement assist device according to claim 8, comprising a first wheel that rotates 360 degrees about a vertical axis and a second wheel that does not rotate.   The movement assist apparatus according to claim 8, further comprising a brake mechanism connected to one or more of the wheels controlled by the user's operation.   The movement assist device according to claim 8, wherein at least one of the wheels is an electrically driven wheel.   4. An operation lever that enables instruction input, a display device that enables viewing, and a processor that is connected to the operation lever and the display device and guides the user. The movement assistance apparatus in any one of.   The movement assistance apparatus according to claim 1, further comprising an obstacle warning system.   The movement assistance apparatus in any one of Claim 1 to 3 provided with the button which selects a forward, reverse, right turn, left turn, and a stop.   4. The movement assisting device according to claim 1, wherein members of the first frame and the second frame can be designed and exchanged in the same manner. 5.   The movement assisting device according to any one of claims 1 to 3, wherein the first frame, the second frame, and the hinged arm are foldable.   The movement assisting device according to any one of claims 1 to 3, further comprising a seat height adjusting mechanism including a pneumatic spring used for adjusting the seat height.   The movement assistance apparatus according to any one of claims 1 to 3, further comprising one or more buffering mechanisms for smooth operation of the unpaved road. A belt for fixing the user to the walking seat;
The walking seat and the belt are interlocked so as to move weight from the user's foot, and the walking seat has a predetermined shape in which a space for allowing the user's foot to move is secured. The movement auxiliary device according to any one of claims 1 to 3.   Means for moving at least a part of the body weight from the user's foot to the first frame and the second frame via the waist and pelvis without using the user's arm while standing or walking The movement auxiliary device according to any one of claims 1 to 3. A belt for fixing the user to the walking seat;
The walking seat and the belt remove weight from the user's foot without using the user's arm,
The movement assist device according to any one of claims 1 to 3, wherein the walking seat has a predetermined shape in which a space for standing up, bending over, and walking for a long time without a wheelchair is secured. .

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